ewandor/kttd
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Moving the mission and mission control in their own file. Adapting the rescue mission for the new shuttle

Browse Source
This commit is contained in:
Gentile G
2023-08-31 17:31:43 +02:00
parent c403da605b
commit 1499e737c1
8 changed files with 450 additions and 246 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
maneuvers/approach.py
View File

@@ -3,7 +3,7 @@ from krpc.services.spacecenter import SASMode
import numpy as np
from time import time, sleep
from .utils import magnitude, unitary, kill_relative_velocity, correct_course
from .utils import magnitude, unitary, kill_relative_velocity, correct_course, get_safety_radius, point_toward_direction
from . import Maneuver
@@ -52,26 +52,6 @@ class ApproachManeuver(Maneuver):
return True
def get_safety_radius(vessel):
bbox = vessel.bounding_box(vessel.reference_frame)
return max(magnitude(bbox[0]), magnitude(bbox[1]))
def point_toward_direction(vessel, direction, reference_frame):
ap = vessel.auto_pilot
ap.reference_frame = reference_frame
ap.target_direction = unitary(direction)
ap.target_roll = 0
ap.sas = False
ap.engage()
sleep(1)
ap.wait()
ap.disengage()
ap.sas_mode = SASMode.stability_assist
ap.sas = True
THROTTLE = .1
VELOCITY_TOLERANCE = .1

96
maneuvers/approach_rcs.py Normal file
View File

@@ -0,0 +1,96 @@
from krpc.services.spacecenter import SASMode
import numpy as np
from time import time, sleep
from .utils import magnitude, unitary, kill_relative_velocity, kill_rcs_velocity, correct_course, get_safety_radius,\
point_toward_direction
from . import Maneuver
class ApproachRCSManeuver(Maneuver):
SAFETY_RADIUS_MARGIN = 10
def __init__(self, conn, mission_control, reference_frame):
super().__init__(conn, mission_control)
self.reference_frame = reference_frame
def start(self):
sc = self.conn.space_center
vessel = sc.active_vessel
target = sc.target_vessel
kill_rcs_velocity(vessel, self.reference_frame)
self.conn.drawing.add_direction((0, 1, 0), self.reference_frame)
vessel.control.rcs = False
pv = vessel.position(self.reference_frame)
safety_radius = get_safety_radius(vessel) + get_safety_radius(target) + self.SAFETY_RADIUS_MARGIN
# if under and inside safety cylinder's circle
if pv[1] < safety_radius and pow(pv[0], 2) + pow(pv[2], 2) <= pow(safety_radius, 2):
print("We're under the target and inside the safety cylinder, getting out")
# get out of the cylinder
planar_move_vector = unitary((pv[0], pv[2])) * (safety_radius - magnitude((pv[0], pv[2])))
spacial_move_vector = np.array((planar_move_vector[0], 0, planar_move_vector[1]))
pv = vessel.position(self.reference_frame)
move_to_waypoint(self.conn, vessel, pv + spacial_move_vector, self.reference_frame)
print("We're outside of the safety cylinder, setting vertical distance")
pv = vessel.position(self.reference_frame)
move_to_waypoint(self.conn, vessel, (pv[0], safety_radius, pv[2]), self.reference_frame)
# should be above and outside => get inside
print("We're at the right vertical distance to the target, setting horizontal position")
move_to_waypoint(self.conn, vessel, (0, safety_radius, 0), self.reference_frame)
# point_toward_direction(vessel, - np.array(vessel.position(self.reference_frame)), self.reference_frame)
point_toward_direction(vessel, (0, -1, 0), self.reference_frame)
return True
def move_to_waypoint(conn, vessel, waypoint, reference_frame):
mj = conn.mech_jeb
kill_relative_velocity(conn, vessel, reference_frame)
conn.drawing.add_line(vessel.position(reference_frame), waypoint, reference_frame)
waypoint = np.array(waypoint)
start_position = np.array(vessel.position(reference_frame))
vector = waypoint - start_position
distance = magnitude(vector)
direction = unitary(vector)
acceleration_distance = distance / 4
point_toward_direction(vessel, direction, reference_frame)
print("Starting acceleration")
remaining_distance = distance
vessel.control.rcs = True
vessel.control.forward = 1
while remaining_distance > 3 * acceleration_distance:
sleep(.1)
remaining_distance = magnitude(waypoint - vessel.position(reference_frame))
vessel.control.forward = 0
print("Target velocity achieved")
while remaining_distance > acceleration_distance:
sleep(.1)
correct_course(conn, vessel, waypoint, reference_frame)
remaining_distance = magnitude(waypoint - vessel.position(reference_frame))
print(remaining_distance)
print("Starting deceleration")
kill_rcs_velocity(vessel, reference_frame)
print("Ship decelerated")
print("destination position: {}".format(waypoint))
print("end position: {}".format(np.array(vessel.position(reference_frame))))

39
maneuvers/docking.py
View File

@@ -1,6 +1,6 @@
from time import sleep
from .utils import kill_relative_velocity, correct_course, magnitude
from .utils import kill_relative_velocity, kill_rcs_velocity, correct_course, magnitude
from . import Maneuver
@@ -83,43 +83,6 @@ def rcs_push(vessel, axis, duration):
vessel.control.rcs = False
def kill_rcs_velocity(vessel, reference_frame):
print("Killing RCS velocity")
velo = vessel.velocity(reference_frame)
vessel.control.rcs = True
while any(abs(component) > .05 for component in velo) > .05:
if abs(velo[0]) > .05:
sign = -velo[0] / abs(velo[0])
if abs(velo[0]) > .1:
vessel.control.up = 1 * sign
elif abs(velo[0]) > .05:
vessel.control.up = .1 * sign
else:
vessel.control.up = 0
if abs(velo[1]) > .05:
sign = -velo[1] / abs(velo[1])
if abs(velo[1]) > .1:
vessel.control.forward = 1 * sign
elif abs(velo[1]) > .05:
vessel.control.forward = .1 * sign
else:
vessel.control.forward = 0
if abs(velo[2]) > .05:
sign = velo[2] / abs(velo[2])
if abs(velo[2]) > .1:
vessel.control.right = 1 * sign
elif abs(velo[2]) > .05:
vessel.control.right = .1 * sign
else:
vessel.control.right = 0
sleep(.1)
velo = vessel.velocity(reference_frame)
vessel.control.rcs = False
print("RCS velocity killed")
def align_horizontally(conn, vessel, reference_frame):
conn.drawing.add_direction((1, 0, 0), vessel.reference_frame)

57
maneuvers/utils.py
View File

@@ -63,3 +63,60 @@ def correct_course(conn, vessel, waypoint, reference_frame):
vessel.control.up = -.1
else:
vessel.control.up = 0
def kill_rcs_velocity(vessel, reference_frame):
print("Killing RCS velocity")
velo = vessel.velocity(reference_frame)
vessel.control.rcs = True
while any(abs(component) > .05 for component in velo) > .05:
if abs(velo[0]) > .05:
sign = -velo[0] / abs(velo[0])
if abs(velo[0]) > .1:
vessel.control.up = 1 * sign
elif abs(velo[0]) > .05:
vessel.control.up = .1 * sign
else:
vessel.control.up = 0
if abs(velo[1]) > .05:
sign = -velo[1] / abs(velo[1])
if abs(velo[1]) > .1:
vessel.control.forward = 1 * sign
elif abs(velo[1]) > .05:
vessel.control.forward = .1 * sign
else:
vessel.control.forward = 0
if abs(velo[2]) > .05:
sign = velo[2] / abs(velo[2])
if abs(velo[2]) > .1:
vessel.control.right = 1 * sign
elif abs(velo[2]) > .05:
vessel.control.right = .1 * sign
else:
vessel.control.right = 0
sleep(.1)
velo = vessel.velocity(reference_frame)
vessel.control.rcs = False
print("RCS velocity killed")
def get_safety_radius(vessel):
bbox = vessel.bounding_box(vessel.reference_frame)
return max(magnitude(bbox[0]), magnitude(bbox[1]))
def point_toward_direction(vessel, direction, reference_frame):
ap = vessel.auto_pilot
ap.reference_frame = reference_frame
ap.target_direction = unitary(direction)
ap.target_roll = 0
ap.sas = False
ap.engage()
sleep(1)
ap.wait()
ap.disengage()
ap.sas_mode = SASMode.stability_assist
ap.sas = True